Description
The YRC1000 system controls the manipulator based on the position data from encoder. If a communication error occurs in a control cycle, the system controls the manipulator in accordance with the previous position data checking the compensation data. This alarm occurs if the compensation data is not within the specified value.
Subcode description
Sub Code: Signifies the axis in
which the alarm occurred
Causes and remedies
| Cause | Remedy |
|---|---|
| Cable (abnormal) | 1. Turn the power off and back on. 2. If the alarm recurs, check that the following cables and connectors are connected and fully inserted. [Robot axes] • Cable between encoders • SDCA01 board-CN508 [External axis] • Cable between encoders • SDCA01 board-CN534, CN535, CN536 |
| Encoder (abnormal) | 1. Turn the power off and back on. 2. If the alarm recurs, replace the encoder. |
| SDCA01 board (abnormal) | 1. Turn the power off and back on. 2. If the alarm recurs, replace the SDCA01 board. As a precaution, save CMOS.BIN before replacing the board. |
| Other | If the alarm occurs again after implementing the countermeasures, contact our service department and describe the circumstances when CMOS.BIN was saved (operating procedure, etc.). |